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/* Author: Ioan Sucan */

#ifndef COLLISION_DETECTION_FCL_COLLISION_WORLD_
#define COLLISION_DETECTION_FCL_COLLISION_WORLD_

#include "collision_detection_fcl/collision_robot.h"
#include <fcl/broadphase/broadphase.h>

namespace collision_detection
{
  
  class CollisionWorldFCL : public CollisionWorld
  {
  public:
    
    CollisionWorldFCL(void);
    CollisionWorldFCL(const CollisionWorldFCL &other);
    virtual ~CollisionWorldFCL(void);
    
    virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const planning_models::KinematicState &state) const;
    virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const planning_models::KinematicState &state, const AllowedCollisionMatrix &acm) const;
    virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const planning_models::KinematicState &state1, const planning_models::KinematicState &state2) const;
    virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const planning_models::KinematicState &state1, const planning_models::KinematicState &state2, const AllowedCollisionMatrix &acm) const;
    virtual void checkWorldCollision(const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world) const;
    virtual void checkWorldCollision(const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world, const AllowedCollisionMatrix &acm) const;

    virtual double distanceRobot(const CollisionRobot &robot, const planning_models::KinematicState &state) const;  
    virtual double distanceRobot(const CollisionRobot &robot, const planning_models::KinematicState &state, const AllowedCollisionMatrix &acm) const;
    virtual double distanceWorld(const CollisionWorld &world) const;
    virtual double distanceWorld(const CollisionWorld &world, const AllowedCollisionMatrix &acm) const;
    
    virtual void addToObject(const std::string &id, const std::vector<shapes::ShapeConstPtr> &shapes, const EigenSTL::vector_Affine3d &poses);
    virtual void addToObject(const std::string &id, const shapes::ShapeConstPtr &shape, const Eigen::Affine3d &pose);
    virtual bool moveShapeInObject(const std::string &id, const shapes::ShapeConstPtr &shape, const Eigen::Affine3d &pose);
    virtual bool removeShapeFromObject(const std::string &id, const shapes::ShapeConstPtr &shape);
    virtual void removeObject(const std::string &id);
    virtual void clearObjects(void);
    
  protected:

    void checkWorldCollisionHelper(const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world, const AllowedCollisionMatrix *acm) const;
    void checkRobotCollisionHelper(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const planning_models::KinematicState &state, const AllowedCollisionMatrix *acm) const;
    double distanceRobotHelper(const CollisionRobot &robot, const planning_models::KinematicState &state, const AllowedCollisionMatrix *acm) const;
    double distanceWorldHelper(const CollisionWorld &world, const AllowedCollisionMatrix *acm) const;
    
    void constructFCLObject(const Object *obj, FCLObject &fcl_obj) const;
    void updateFCLObject(const std::string &id);
    
    boost::scoped_ptr<fcl::BroadPhaseCollisionManager> manager_;
    std::map<std::string, FCLObject >                  fcl_objs_;
    
  };
  
}

#endif
